Omron G5 Series User Manual

4 System Design
4 - 40
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
• In the output torque graph, acceleration in the forward direction (rising) is shown as positive (+), and
acceleration in the reverse direction (falling) is shown as negative (–).
• The regenerative energy values in each region can be derived from the following equations.
Note Due to the loss of winding resistance, the actual regenerative energy will be approximately 90%
of the values derived from these equations.
• For Servo Drive models with internal capacitors used for absorbing regenerative energy (i.e., Servo
Drive models of 400 W or less), the values E
g1
and E
g2
+ E
g3
(unit: J) must be lower than the drive’s
regeneration absorption capacity. (The capacity depends on the model. For details, refer to the next
section.)
• For Servo Drive models with an Internal Regeneration Resistor used for absorbing regenerative
energy (i.e., Servo Drive models of 500 W or more), the average amount of regeneration Pr (unit: W)
must be calculated, and this value must be lower than the drive’s regeneration absorption capacity.
(The capacity depends on the model. For details, refer to the next section.)
The average regeneration power (Pr) is the regeneration power produced in 1 cycle of operation [W].
Vertical Axis
Motor operation
Motor output
torque
+N1
–N2
t 1 t 2 t 3
T
E
g1
Eg3Eg3
Upward movement
Downward movement
TD2
TL2
TD1
Eg2
N
1
,
N
2
: Rotation speed at start of deceleration [r/min]
: Deceleration torque [N•m]
: Torque during downward movement [N•m]
: Deceleration time
: Constant-speed driving time during downward movement [s]
T
D1
,
T
D2
t
1
,
t
3
T
L2
t
2
2Eg1Eg
=
Pr ( + ) / T [W]
T : Operation cycle [s]
3Eg+

Omron G5 Series Specifications

General

Feedback	Incremental Encoder, Absolute Encoder
Communication	EtherCAT
Safety Function	STO (Safe Torque Off)
Protection Functions	Overvoltage, Undervoltage, Overcurrent
Vibration Resistance	4.9 m/s² (10 to 55 Hz)